epnp Class Reference

#include <epnp.h>

List of all members.

Public Member Functions
void	add_correspondence (const double X, const double Y, const double Z, const double u, const double v)
double	compute_pose (double R[3][3], double T[3])
	epnp (void)
void	print_pose (const double R[3][3], const double t[3])
void	relative_error (double &rot_err, double &transl_err, const double Rtrue[3][3], const double ttrue[3], const double Rest[3][3], const double test[3])
double	reprojection_error (const double R[3][3], const double t[3])
void	reset_correspondences (void)
void	set_internal_parameters (const double uc, const double vc, const double fu, const double fv)
void	set_maximum_number_of_correspondences (const int n)
	~epnp ()
Private Member Functions
void	choose_control_points (void)
void	compute_A_and_b_gauss_newton (const double *l_6x10, const double *rho, double cb[4], CvMat *A, CvMat *b)
void	compute_barycentric_coordinates (void)
void	compute_ccs (const double *betas, const double *ut)
void	compute_L_6x10 (const double *ut, double *l_6x10)
void	compute_pcs (void)
double	compute_R_and_t (const double *ut, const double *betas, double R[3][3], double t[3])
void	compute_rho (double *rho)
void	copy_R_and_t (const double R_dst[3][3], const double t_dst[3], double R_src[3][3], double t_src[3])
double	dist2 (const double *p1, const double *p2)
double	dot (const double *v1, const double *v2)
void	estimate_R_and_t (double R[3][3], double t[3])
void	fill_M (CvMat *M, const int row, const double *alphas, const double u, const double v)
void	find_betas_approx_1 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
void	find_betas_approx_2 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
void	find_betas_approx_3 (const CvMat *L_6x10, const CvMat *Rho, double *betas)
void	gauss_newton (const CvMat *L_6x10, const CvMat *Rho, double current_betas[4])
void	mat_to_quat (const double R[3][3], double q[4])
void	qr_solve (CvMat *A, CvMat *b, CvMat *X)
void	solve_for_sign (void)
Private Attributes
double *	alphas
double	ccs [4][3]
double	cws [4][3]
double	cws_determinant
double	fu
double	fv
int	maximum_number_of_correspondences
int	number_of_correspondences
double *	pcs
double *	pws
double	uc
double *	us
double	vc

---

Detailed Description

Definition at line 6 of file epnp.h.

---

Constructor & Destructor Documentation

epnp::epnp

(

void

)

Definition at line 6 of file epnp.cpp.

epnp::~epnp

(

)

Definition at line 17 of file epnp.cpp.

---

Member Function Documentation

void epnp::add_correspondence	(	const double	X,
		const double	Y,
		const double	Z,
		const double	u,
		const double	v
	)

Definition at line 54 of file epnp.cpp.

void epnp::choose_control_points

(

void

)

[private]

Definition at line 66 of file epnp.cpp.

void epnp::compute_A_and_b_gauss_newton	(	const double *	l_6x10,
		const double *	rho,
		double	cb[4],
		CvMat *	A,
		CvMat *	b
	)		[private]

Definition at line 503 of file epnp.cpp.

void epnp::compute_barycentric_coordinates

(

void

)

[private]

Definition at line 102 of file epnp.cpp.

void epnp::compute_ccs	(	const double *	betas,
		const double *	ut
	)		[private]

Definition at line 144 of file epnp.cpp.

void epnp::compute_L_6x10	(	const double *	ut,
		double *	l_6x10
	)		[private]

Definition at line 451 of file epnp.cpp.

void epnp::compute_pcs

(

void

)

[private]

Definition at line 157 of file epnp.cpp.

double epnp::compute_pose	(	double	R[3][3],
		double	T[3]
	)

Definition at line 168 of file epnp.cpp.

double epnp::compute_R_and_t	(	const double *	ut,
		const double *	betas,
		double	R[3][3],
		double	t[3]
	)		[private]

Definition at line 342 of file epnp.cpp.

void epnp::compute_rho

(

double *

rho

)

[private]

Definition at line 493 of file epnp.cpp.

void epnp::copy_R_and_t	(	const double	R_dst[3][3],
		const double	t_dst[3],
		double	R_src[3][3],
		double	t_src[3]
	)		[private]

Definition at line 218 of file epnp.cpp.

double epnp::dist2	(	const double *	p1,
		const double *	p2
	)		[private]

Definition at line 228 of file epnp.cpp.

double epnp::dot	(	const double *	v1,
		const double *	v2
	)		[private]

Definition at line 236 of file epnp.cpp.

void epnp::estimate_R_and_t	(	double	R[3][3],
		double	t[3]
	)		[private]

Definition at line 260 of file epnp.cpp.

void epnp::fill_M	(	CvMat *	M,
		const int	row,
		const double *	alphas,
		const double	u,
		const double	v
	)		[private]

Definition at line 127 of file epnp.cpp.

void epnp::find_betas_approx_1	(	const CvMat *	L_6x10,
		const CvMat *	Rho,
		double *	betas
	)		[private]

Definition at line 358 of file epnp.cpp.

void epnp::find_betas_approx_2	(	const CvMat *	L_6x10,
		const CvMat *	Rho,
		double *	betas
	)		[private]

Definition at line 390 of file epnp.cpp.

void epnp::find_betas_approx_3	(	const CvMat *	L_6x10,
		const CvMat *	Rho,
		double *	betas
	)		[private]

Definition at line 422 of file epnp.cpp.

void epnp::gauss_newton	(	const CvMat *	L_6x10,
		const CvMat *	Rho,
		double	current_betas[4]
	)		[private]

Definition at line 531 of file epnp.cpp.

void epnp::mat_to_quat	(	const double	R[3][3],
		double	q[4]
	)		[private]

Definition at line 675 of file epnp.cpp.

void epnp::print_pose	(	const double	R[3][3],
		const double	t[3]
	)

Definition at line 320 of file epnp.cpp.

void epnp::qr_solve	(	CvMat *	A,
		CvMat *	b,
		CvMat *	X
	)		[private]

Definition at line 551 of file epnp.cpp.

void epnp::relative_error	(	double &	rot_err,
		double &	transl_err,
		const double	Rtrue[3][3],
		const double	ttrue[3],
		const double	Rest[3][3],
		const double	test[3]
	)

Definition at line 645 of file epnp.cpp.

double epnp::reprojection_error	(	const double	R[3][3],
		const double	t[3]
	)

Definition at line 241 of file epnp.cpp.

void epnp::reset_correspondences

(

void

)

Definition at line 49 of file epnp.cpp.

void epnp::set_internal_parameters	(	const double	uc,
		const double	vc,
		const double	fu,
		const double	fv
	)

Definition at line 25 of file epnp.cpp.

void epnp::set_maximum_number_of_correspondences

(

const int

n

)

Definition at line 33 of file epnp.cpp.

void epnp::solve_for_sign

(

void

)

[private]

Definition at line 327 of file epnp.cpp.

---

Member Data Documentation

double * epnp::alphas [private]

Definition at line 65 of file epnp.h.

double epnp::ccs[4][3] [private]

Definition at line 69 of file epnp.h.

double epnp::cws[4][3] [private]

Definition at line 69 of file epnp.h.

double epnp::cws_determinant [private]

Definition at line 70 of file epnp.h.

double epnp::fu [private]

Definition at line 63 of file epnp.h.

double epnp::fv [private]

Definition at line 63 of file epnp.h.

int epnp::maximum_number_of_correspondences [private]

Definition at line 66 of file epnp.h.

int epnp::number_of_correspondences [private]

Definition at line 67 of file epnp.h.

double * epnp::pcs [private]

Definition at line 65 of file epnp.h.

double* epnp::pws [private]

Definition at line 65 of file epnp.h.

double epnp::uc [private]

Definition at line 63 of file epnp.h.

double * epnp::us [private]

Definition at line 65 of file epnp.h.

double epnp::vc [private]

Definition at line 63 of file epnp.h.

---

The documentation for this class was generated from the following files:

• epnp.h
• epnp.cpp